Executing functional components in pipeline on heterogeneous multi-core platforms can greatly improve the parallelism but require great amount of data communication among processes and threads. Our studies showed that existing inter-process/thread communication protocols consist of many unnecessary memory copies and prolong the execution of the applications on heterogeneous multi-core platforms. Our experiments also showed that the communication overhead accounts 40% to 50% of total execution time in average for H.264 video decoding applications. In this paper, we present the design and implementation of zero-buffer inter-core process communication protocol, named NTU ICPC, to shorten communication overhead for pipeline executed applications on heterogeneous multi-core platforms. NTU ICPC uses polling-base mail notification to avoid unnecessary context switches, and designs a memory subsystem to manage the input and output data between the senders and receivers. The protocol was implemented and evaluated on heterogeneous multi-core platform for several use scenario including H.264 encoding process. The evaluation results show that the communication overhead on sender side is independent of the data size and that on receiver side is greatly shortened, compared to several inter-process communication (IPC) protocols including mailbox, message queue, and shared memory. When encoding H.264 video clips, the encoding frame rates increase for more than 30%.